CN105817818A - Automatic cleaning worktable - Google Patents
Automatic cleaning worktable Download PDFInfo
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- CN105817818A CN105817818A CN201610349052.9A CN201610349052A CN105817818A CN 105817818 A CN105817818 A CN 105817818A CN 201610349052 A CN201610349052 A CN 201610349052A CN 105817818 A CN105817818 A CN 105817818A
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- 238000004140 cleaning Methods 0.000 title abstract 2
- 238000001914 filtration Methods 0.000 claims description 99
- 238000001514 detection method Methods 0.000 claims description 43
- 238000000034 method Methods 0.000 claims description 33
- 238000009826 distribution Methods 0.000 claims description 24
- 230000002708 enhancing effect Effects 0.000 claims description 24
- 239000000463 material Substances 0.000 claims description 20
- 230000003750 conditioning effect Effects 0.000 claims description 18
- 230000004048 modification Effects 0.000 claims description 18
- 238000012986 modification Methods 0.000 claims description 18
- 238000005070 sampling Methods 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 9
- 230000008602 contraction Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000005728 strengthening Methods 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract 1
- 230000006378 damage Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0461—Welding tables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
Abstract
The invention relates to an automatic cleaning worktable. The worktable comprises a rope net protection subsystem, a fall detecting subsystem, a control subsystem and a warning subsystem; the fall detecting subsystem is used for detecting if operators on the worktable fall; and the control subsystem is respectively connected with the rope net protection subsystem, the fall detecting subsystem and the warning subsystem for controlling operations of the rope net protection subsystem and the warning subsystem based on output of the fall detecting subsystem. The worktable can effectively prevent secondary injury of the operators.
Description
Technical field
The present invention relates to field of Environment Protection, particularly relate to a kind of automatic material clearing workbench.
Background technology
Workbench, is all spliced by the welding of simple section bar.Substantially by table rest, table frame, several parts such as hopper simply form.Cutting efficiency is higher, and speed is also very fast, and the waste material produced during welding blanking, bigger frame-type waste material, it is necessary to walked by traveling crane, and less waste material, the most all by manually collecting.And adopt and expect the most clearly, not only efficiency comparison is low, and owing to the flue dust of plasma generation has certain hazardness, causes working environment the most preferable.
Summary of the invention
According to an aspect of the present invention, provide a kind of automatic material clearing workbench, described system includes netting protection subsystem, fall detection subsystem, controls subsystem and alert sub-system, fall detection subsystem is used for detecting whether operator on workbench fall, control subsystem to be connected with netting protection subsystem, fall detection subsystem and alert sub-system respectively, control netting protection subsystem and the operation of alert sub-system for output based on fall detection subsystem.
More specifically, in described automatic material clearing workbench, including netting collecting apparatus, it is positioned at below workbench, for cylindrical vessel, can Pop-up netting main body for storage；Ejecting gun, respectively with Freescale MC9S12 chip and can Pop-up netting main body being connected, be positioned at netting collecting apparatus rear portion, for receive fall triggering signal time, Pop-up netting main body will can be ejected into the side of workbench in netting collecting apparatus and be in open mode；Can Pop-up netting main body, before the most injected rifle sprays, remain in netting collecting apparatus and be in contraction state, for falling workbench when being injected into the side of workbench and being in open mode, human body is protected；Weight rate detection equipment, it is positioned at position, table surface downside, including weight detector and timer, weight detector load weight on detection table surface in real time, the output of weight rate detection equipment output based on weight detector and timer determines the load weight rate of change on table surface, when load weight rate of change is more than when presetting rate of change, send weight change early warning signal, when load weight rate of change is less than or equal to when presetting rate of change, send weight change normal signal；Civil power access interface, is connected with line, for receiving the Alternating Current Power Supply signal of line input；Current transformer and sample circuit, be connected with the A phase line in line, B phase line and C phase line, for being sampled the current signal in A phase line, B phase line and C phase line respectively；Voltage sample circuit, is connected with the A phase line in line, B phase line and C phase line, for being sampled the voltage signal in A phase line, B phase line and C phase line respectively；Current signal conditioning circuit, is connected with current transformer and sample circuit, for sampling current is carried out signal condition；Voltage signal conditioning circuit, is connected with voltage sample circuit, for sampling voltage is carried out signal condition；AD73360 chip, it is connected with current signal conditioning circuit and voltage signal conditioning circuit respectively, sampling voltage after sampling current after conditioning and conditioning is performed respectively 16 A/D conversions, obtain digital current signal and digital voltage signal, be additionally based upon digital current signal and digital voltage signal determines the virtual value of digital current signal and the virtual value of digital voltage signal；Alternating Current Power Supply conversion equipment, is connected with the A phase line in line, B phase line and C phase line, is used for performing alternating current to galvanic conversion；Display device, is connected with AD73360 chip, for virtual value and the virtual value of digital voltage signal of real-time display digit current signal；Image capture device, is positioned at the side of table surface, and workbench side shoots with horizontal shooting direction to obtain high definition side image dorsad；nullSpatial domain picture strengthens equipment，It is connected with image capture device to receive high definition side image，Including direct greyscale transformation subset and histogram modification subset，Directly greyscale transformation subset is connected with image capture device，For high definition side image being performed direct greyscale transform process to obtain the first enhancing image，Histogram modification subset is connected with direct greyscale transformation subset，For receiving the first enhancing image，And strengthen image execution histogram modification process to first to obtain the second enhancing image，Wherein，Directly greyscale transform process uses logarithmic function that each pixel value of high definition side image is carried out computing，Each pixel value after computing is formed the first enhancing image，Histogram modification processes and changes the gray scale layout of the first enhancing image to strengthen the first enhancing image by the histogrammic shape of change，Obtain the second enhancing image；Wiener filtering equipment, the histogram modification subset strengthening equipment with spatial domain picture is connected, for receiving the second enhancing image, and strengthen image to second and perform the first Filtering Processing to obtain the first filtering image, wherein the first Filtering Processing is for making the first filtering image strengthen that the mean square error of image is minimum strengthens the speckle noise in image and white noise removing second with second；nullModified model medium filtering equipment，It is connected to obtain the first filtering image with Wiener filtering equipment，Including noise measuring subset、Module selects subset and Filtering Processing subset，Noise measuring subset is connected with Wiener filtering equipment，By the gray value of the pixel of the first filtering image is analyzed determining the distribution radius in each noise profile region，And the maximum in the distribution radius in each noise profile region is exported as maximum distribution radius，Module selects subset to be connected with noise measuring subset，For receiving maximum distribution radius，And the filtration module of medium filtering is selected to carry out based on maximum distribution radius，Filtering Processing subset selects subset to be connected with Wiener filtering equipment and module respectively，Process for the first filtering image being carried out medium filtering based on the filtration module selected to obtain the second filtering image，Wherein medium filtering processes and includes carrying out following process for each pixel in the first filtering image as target pixel points: take out multiple pixel in the first filtering image as multiple reference image vegetarian refreshments using target pixel points position in the first filtering image as the centre of form of the filtration module selected，Take the maximum in the pixel value of multiple reference image vegetarian refreshments and minima using as pixel maximum and pixel minimum，Determine that the meansigma methods of pixel maximum and pixel minimum is using as pixel average，For each reference image vegetarian refreshments，If its pixel value is less than pixel average，Then replace its pixel value with 0，If its pixel value is more than or equal to pixel average，Then retain its pixel value，Finally the meansigma methods of the pixel value of multiple reference image vegetarian refreshments is exported as the pixel value of target pixel points；Human body detecting device, it is connected with modified model medium filtering equipment, by all pixels composition human body subimage in human body intensity value ranges of the pixel gray value in the second filtering image, when the sum of the pixel occupied by human body subimage is more than or equal to presetted pixel point quantity, send and there is human body signal, otherwise, send without human body signal；Infrared detection equipment, is positioned at the side of table surface, for detecting whether there is the object side process from table surface, and detect object from the side of table surface through out-of-date, send object and skim over signal；Solar energy detection equipment, is positioned on workbench, detects current solar energy intensity in real time；Power supply unit, including solar powered device, accumulator, switching switch and electric pressure converter, switching switch detects equipment with solar energy respectively, solar powered device and accumulator connect, when the solar energy intensity that the dump energy of accumulator is not enough and current is optionally greater than preset strength, it is switched to solar powered device to be powered by solar powered device, electric pressure converter is connected with switching switch, so that 3.3V voltage will be converted to by the 5V voltage of switching switch input, the most solar powered device is positioned on workbench, solar powered device includes solar energy photovoltaic panel；Wireless charging device, it is connected with solar energy detection equipment and accumulator respectively, when the solar energy intensity that the dump energy of accumulator is not enough and current is less than preset strength, setting up with neighbouring wireless charging terminal and be connected to start wireless charging operation, wireless charging device is also connected with electric pressure converter to realize voltage conversion；Sound and light alarm equipment, is connected with Freescale MC9S12 chip, including audible alarm subset and light warning subset for receive fall triggering signal or fall early warning signal time carry out corresponding sound and light alarm operation；User input device, is connected with Compact Flash, under the operation of user, inputs preset content in Compact Flash；Freescale MC9S12 chip, it is connected with image capture device, ejecting gun, weight rate detection equipment, human body detecting device and infrared detection equipment respectively, after receiving weight change early warning signal, start image capture device, subsequently receive exist human body signal and receive object skim over signal time, send the triggering signal that falls, receive without human body signal and receive object skim over signal time, send the early warning signal that falls, and do not receive object and skim over signal and receive only and there is human body signal, send the early warning signal that falls；Compact Flash, is used for having prestored presetted pixel point quantity, preset strength and default rate of change；Wherein, module selects subset to select the filtration module carrying out medium filtering to include based on maximum distribution radius: maximum distribution radius is the biggest, the filtration module carrying out medium filtering selected is the biggest, and maximum distribution radius is the least, and the filtration module carrying out medium filtering of selection is the least；
Wherein, module selects selective filtration module in subset to include 3 × 3, and 5 × 5,7 × 7 and 9 × 9.
More specifically, in described automatic material clearing workbench: user input device is keyboard array.
More specifically, in described automatic material clearing workbench: infrared detection equipment includes RF transmitter and infrared receiver.
More specifically, in described automatic material clearing workbench: infrared detection equipment includes microcontroller.
More specifically, in described automatic material clearing workbench: microcontroller is AT89C51 single-chip microcomputer.
More specifically, in described automatic material clearing workbench: Freescale MC9S12 chip and Compact Flash are integrated on one piece of surface-mounted integrated circuit.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram according to the automatic material clearing workbench shown in embodiment of the present invention.
Reference: 1 netting protection subsystem；2 fall detection subsystems；3 control subsystem；4 alert sub-system
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the automatic material clearing workbench of the present invention is described in detail.
Fig. 1 is the block diagram according to the automatic material clearing workbench shown in embodiment of the present invention, described system includes netting protection subsystem, fall detection subsystem, controls subsystem and alert sub-system, fall detection subsystem is used for detecting whether operator on workbench fall, control subsystem to be connected with netting protection subsystem, fall detection subsystem and alert sub-system respectively, control netting protection subsystem and the operation of alert sub-system for output based on fall detection subsystem.
Then, continue the concrete structure of the automatic material clearing workbench of the present invention is further detailed.
Described system includes: netting collecting apparatus, is positioned at below workbench, for cylindrical vessel, and can Pop-up netting main body for storage；Ejecting gun, respectively with Freescale MC9S12 chip and can Pop-up netting main body being connected, be positioned at netting collecting apparatus rear portion, for receive fall triggering signal time, Pop-up netting main body will can be ejected into the side of workbench in netting collecting apparatus and be in open mode.
Described system includes: can Pop-up netting main body, before the most injected rifle sprays, remain in netting collecting apparatus and be in contraction state, for falling workbench when being injected into the side of workbench and being in open mode, human body is protected.
Described system includes: weight rate detection equipment, it is positioned at position, table surface downside, including weight detector and timer, weight detector load weight on detection table surface in real time, the output of weight rate detection equipment output based on weight detector and timer determines the load weight rate of change on table surface, when load weight rate of change is more than when presetting rate of change, send weight change early warning signal, when load weight rate of change is less than or equal to when presetting rate of change, send weight change normal signal.
Described system includes: civil power access interface, is connected with line, for receiving the Alternating Current Power Supply signal of line input；Current transformer and sample circuit, be connected with the A phase line in line, B phase line and C phase line, for being sampled the current signal in A phase line, B phase line and C phase line respectively；Voltage sample circuit, is connected with the A phase line in line, B phase line and C phase line, for being sampled the voltage signal in A phase line, B phase line and C phase line respectively；Current signal conditioning circuit, is connected with current transformer and sample circuit, for sampling current is carried out signal condition；Voltage signal conditioning circuit, is connected with voltage sample circuit, for sampling voltage is carried out signal condition.
Described system includes: AD73360 chip, it is connected with current signal conditioning circuit and voltage signal conditioning circuit respectively, sampling voltage after sampling current after conditioning and conditioning is performed respectively 16 A/D conversions, obtain digital current signal and digital voltage signal, be additionally based upon digital current signal and digital voltage signal determines the virtual value of digital current signal and the virtual value of digital voltage signal.
Described system includes: Alternating Current Power Supply conversion equipment, is connected with the A phase line in line, B phase line and C phase line, is used for performing alternating current to galvanic conversion；Display device, is connected with AD73360 chip, for virtual value and the virtual value of digital voltage signal of real-time display digit current signal.
Described system includes: image capture device, is positioned at the side of table surface, and workbench side shoots with horizontal shooting direction to obtain high definition side image dorsad；nullSpatial domain picture strengthens equipment，It is connected with image capture device to receive high definition side image，Including direct greyscale transformation subset and histogram modification subset，Directly greyscale transformation subset is connected with image capture device，For high definition side image being performed direct greyscale transform process to obtain the first enhancing image，Histogram modification subset is connected with direct greyscale transformation subset，For receiving the first enhancing image，And strengthen image execution histogram modification process to first to obtain the second enhancing image，Wherein，Directly greyscale transform process uses logarithmic function that each pixel value of high definition side image is carried out computing，Each pixel value after computing is formed the first enhancing image，Histogram modification processes and changes the gray scale layout of the first enhancing image to strengthen the first enhancing image by the histogrammic shape of change，Obtain the second enhancing image.
Described system includes: Wiener filtering equipment, the histogram modification subset strengthening equipment with spatial domain picture is connected, for receiving the second enhancing image, and strengthen image to second and perform the first Filtering Processing to obtain the first filtering image, wherein the first Filtering Processing is for making the first filtering image strengthen that the mean square error of image is minimum strengthens the speckle noise in image and white noise removing second with second；nullModified model medium filtering equipment，It is connected to obtain the first filtering image with Wiener filtering equipment，Including noise measuring subset、Module selects subset and Filtering Processing subset，Noise measuring subset is connected with Wiener filtering equipment，By the gray value of the pixel of the first filtering image is analyzed determining the distribution radius in each noise profile region，And the maximum in the distribution radius in each noise profile region is exported as maximum distribution radius，Module selects subset to be connected with noise measuring subset，For receiving maximum distribution radius，And the filtration module of medium filtering is selected to carry out based on maximum distribution radius，Filtering Processing subset selects subset to be connected with Wiener filtering equipment and module respectively，Process for the first filtering image being carried out medium filtering based on the filtration module selected to obtain the second filtering image，Wherein medium filtering processes and includes carrying out following process for each pixel in the first filtering image as target pixel points: take out multiple pixel in the first filtering image as multiple reference image vegetarian refreshments using target pixel points position in the first filtering image as the centre of form of the filtration module selected，Take the maximum in the pixel value of multiple reference image vegetarian refreshments and minima using as pixel maximum and pixel minimum，Determine that the meansigma methods of pixel maximum and pixel minimum is using as pixel average，For each reference image vegetarian refreshments，If its pixel value is less than pixel average，Then replace its pixel value with 0，If its pixel value is more than or equal to pixel average，Then retain its pixel value，Finally the meansigma methods of the pixel value of multiple reference image vegetarian refreshments is exported as the pixel value of target pixel points.
Described system includes: human body detecting device, it is connected with modified model medium filtering equipment, by all pixels composition human body subimage in human body intensity value ranges of the pixel gray value in the second filtering image, when the sum of the pixel occupied by human body subimage is more than or equal to presetted pixel point quantity, send and there is human body signal, otherwise, send without human body signal.
Described system includes: infrared detection equipment, is positioned at the side of table surface, for detecting whether there is the object side process from table surface, and detect object from the side of table surface through out-of-date, send object and skim over signal.
Described system includes: solar energy detection equipment, is positioned on workbench, detects current solar energy intensity in real time；Power supply unit, including solar powered device, accumulator, switching switch and electric pressure converter, switching switch detects equipment with solar energy respectively, solar powered device and accumulator connect, when the solar energy intensity that the dump energy of accumulator is not enough and current is optionally greater than preset strength, it is switched to solar powered device to be powered by solar powered device, electric pressure converter is connected with switching switch, so that 3.3V voltage will be converted to by the 5V voltage of switching switch input, the most solar powered device is positioned on workbench, solar powered device includes solar energy photovoltaic panel.
Described system includes: wireless charging device, it is connected with solar energy detection equipment and accumulator respectively, when the solar energy intensity that the dump energy of accumulator is not enough and current is less than preset strength, setting up with neighbouring wireless charging terminal and be connected to start wireless charging operation, wireless charging device is also connected with electric pressure converter to realize voltage conversion.
Described system includes: sound and light alarm equipment, is connected with Freescale MC9S12 chip, including audible alarm subset and light warning subset for receive fall triggering signal or fall early warning signal time carry out corresponding sound and light alarm operation.
Described system includes: user input device, is connected with Compact Flash, under the operation of user, inputs preset content in Compact Flash；Freescale MC9S12 chip, it is connected with image capture device, ejecting gun, weight rate detection equipment, human body detecting device and infrared detection equipment respectively, after receiving weight change early warning signal, start image capture device, subsequently receive exist human body signal and receive object skim over signal time, send the triggering signal that falls, receive without human body signal and receive object skim over signal time, send the early warning signal that falls, and do not receive object and skim over signal and receive only and there is human body signal, send the early warning signal that falls；Compact Flash, is used for having prestored presetted pixel point quantity, preset strength and default rate of change.
Wherein, module selects subset to select the filtration module carrying out medium filtering to include based on maximum distribution radius: maximum distribution radius is the biggest, the filtration module carrying out medium filtering selected is the biggest, and maximum distribution radius is the least, and the filtration module carrying out medium filtering of selection is the least.
Wherein, module selects selective filtration module in subset to include 3 × 3, and 5 × 5,7 × 7 and 9 × 9.
Alternatively, in described platform: user input device is keyboard array；Infrared detection equipment includes RF transmitter and infrared receiver；Infrared detection equipment includes microcontroller；Microcontroller is AT89C51 single-chip microcomputer；And Freescale MC9S12 chip is integrated on one piece of surface-mounted integrated circuit with Compact Flash.
It addition, wave filter, as the term suggests, it is the device that ripple is filtered." ripple " is a physical concept widely, at electronic technology field, and the process of the value fluctuations in time that " ripple " is narrowly confined to refer in particular to describe various physical quantity.The effect by various kinds of sensors of this process, is converted into the time function of voltage or electric current, the time waveform of the most various physical quantitys, or referred to as signal.Because the independent variable time is continuous value, so referred to as continuous time signal, it is referred to as analogue signal the most habitually.
Along with the generation of digital electronic computer technology with develop rapidly, for the ease of computer, signal is processed, create complete theory and the method that under sampling theorem instructs, continuous time signal is transformed into discrete-time signal.That is, only can express primary signal by original analog signal sample value on series of discrete time coordinate point and not lose any information, since what these concepts of ripple, waveform, signal were expressed is the change of various physical quantitys in objective world, it is exactly the carrier of the various information that modern society depends on for existence naturally.Information needs to propagate, and lean on is exactly the transmission of waveshape signal.Signal it generation, change, each link of transmitting is likely to be due to environment and the existence of interference and distorts, the most in quite a number of cases, this distortion is the most serious, causes signal and entrained information thereof to be embedded in the middle of noise dearly.In order to filter these noises, recover signal originally, need to use various wave filter to be filtered processing.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, technical solution of the present invention is made many possible variations and modification by the technology contents that all may utilize the disclosure above, or is revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the range of technical solution of the present invention protection.
Claims (7)
1. an automatic material clearing workbench, described workbench includes netting protection subsystem, fall detection subsystem, controls subsystem and alert sub-system, fall detection subsystem is used for detecting whether operator on workbench fall, control subsystem to be connected with netting protection subsystem, fall detection subsystem and alert sub-system respectively, control netting protection subsystem and the operation of alert sub-system for output based on fall detection subsystem.
2. automatic material clearing workbench as claimed in claim 1, it is characterised in that described system includes:
Netting collecting apparatus, is positioned at below workbench, for cylindrical vessel, and can Pop-up netting main body for storage；
Ejecting gun, respectively with Freescale MC9S12 chip and can Pop-up netting main body being connected, be positioned at netting collecting apparatus rear portion, for receive fall triggering signal time, Pop-up netting main body will can be ejected into the side of workbench in netting collecting apparatus and be in open mode；
Can Pop-up netting main body, before the most injected rifle sprays, remain in netting collecting apparatus and be in contraction state, for falling workbench when being injected into the side of workbench and being in open mode, human body is protected；
Weight rate detection equipment, it is positioned at position, table surface downside, including weight detector and timer, weight detector load weight on detection table surface in real time, the output of weight rate detection equipment output based on weight detector and timer determines the load weight rate of change on table surface, when load weight rate of change is more than when presetting rate of change, send weight change early warning signal, when load weight rate of change is less than or equal to when presetting rate of change, send weight change normal signal；
Civil power access interface, is connected with line, for receiving the Alternating Current Power Supply signal of line input；
Current transformer and sample circuit, be connected with the A phase line in line, B phase line and C phase line, for being sampled the current signal in A phase line, B phase line and C phase line respectively；
Voltage sample circuit, is connected with the A phase line in line, B phase line and C phase line, for being sampled the voltage signal in A phase line, B phase line and C phase line respectively；
Current signal conditioning circuit, is connected with current transformer and sample circuit, for sampling current is carried out signal condition；
Voltage signal conditioning circuit, is connected with voltage sample circuit, for sampling voltage is carried out signal condition；
AD73360 chip, it is connected with current signal conditioning circuit and voltage signal conditioning circuit respectively, sampling voltage after sampling current after conditioning and conditioning is performed respectively 16 A/D conversions, obtain digital current signal and digital voltage signal, be additionally based upon digital current signal and digital voltage signal determines the virtual value of digital current signal and the virtual value of digital voltage signal；
Alternating Current Power Supply conversion equipment, is connected with the A phase line in line, B phase line and C phase line, is used for performing alternating current to galvanic conversion；
Display device, is connected with AD73360 chip, for virtual value and the virtual value of digital voltage signal of real-time display digit current signal；
Image capture device, is positioned at the side of table surface, and workbench side shoots with horizontal shooting direction to obtain high definition side image dorsad；
nullSpatial domain picture strengthens equipment，It is connected with image capture device to receive high definition side image，Including direct greyscale transformation subset and histogram modification subset，Directly greyscale transformation subset is connected with image capture device，For high definition side image being performed direct greyscale transform process to obtain the first enhancing image，Histogram modification subset is connected with direct greyscale transformation subset，For receiving the first enhancing image，And strengthen image execution histogram modification process to first to obtain the second enhancing image，Wherein，Directly greyscale transform process uses logarithmic function that each pixel value of high definition side image is carried out computing，Each pixel value after computing is formed the first enhancing image，Histogram modification processes and changes the gray scale layout of the first enhancing image to strengthen the first enhancing image by the histogrammic shape of change，Obtain the second enhancing image；
Wiener filtering equipment, the histogram modification subset strengthening equipment with spatial domain picture is connected, for receiving the second enhancing image, and strengthen image to second and perform the first Filtering Processing to obtain the first filtering image, wherein the first Filtering Processing is for making the first filtering image strengthen that the mean square error of image is minimum strengthens the speckle noise in image and white noise removing second with second；
nullModified model medium filtering equipment，It is connected to obtain the first filtering image with Wiener filtering equipment，Including noise measuring subset、Module selects subset and Filtering Processing subset，Noise measuring subset is connected with Wiener filtering equipment，By the gray value of the pixel of the first filtering image is analyzed determining the distribution radius in each noise profile region，And the maximum in the distribution radius in each noise profile region is exported as maximum distribution radius，Module selects subset to be connected with noise measuring subset，For receiving maximum distribution radius，And the filtration module of medium filtering is selected to carry out based on maximum distribution radius，Filtering Processing subset selects subset to be connected with Wiener filtering equipment and module respectively，Process for the first filtering image being carried out medium filtering based on the filtration module selected to obtain the second filtering image，Wherein medium filtering processes and includes carrying out following process for each pixel in the first filtering image as target pixel points: take out multiple pixel in the first filtering image as multiple reference image vegetarian refreshments using target pixel points position in the first filtering image as the centre of form of the filtration module selected，Take the maximum in the pixel value of multiple reference image vegetarian refreshments and minima using as pixel maximum and pixel minimum，Determine that the meansigma methods of pixel maximum and pixel minimum is using as pixel average，For each reference image vegetarian refreshments，If its pixel value is less than pixel average，Then replace its pixel value with 0，If its pixel value is more than or equal to pixel average，Then retain its pixel value，Finally the meansigma methods of the pixel value of multiple reference image vegetarian refreshments is exported as the pixel value of target pixel points；
Human body detecting device, it is connected with modified model medium filtering equipment, by all pixels composition human body subimage in human body intensity value ranges of the pixel gray value in the second filtering image, when the sum of the pixel occupied by human body subimage is more than or equal to presetted pixel point quantity, send and there is human body signal, otherwise, send without human body signal；
Infrared detection equipment, is positioned at the side of table surface, for detecting whether there is the object side process from table surface, and detect object from the side of table surface through out-of-date, send object and skim over signal；
Solar energy detection equipment, is positioned on workbench, detects current solar energy intensity in real time；
Power supply unit, including solar powered device, accumulator, switching switch and electric pressure converter, switching switch detects equipment with solar energy respectively, solar powered device and accumulator connect, when the solar energy intensity that the dump energy of accumulator is not enough and current is optionally greater than preset strength, it is switched to solar powered device to be powered by solar powered device, electric pressure converter is connected with switching switch, so that 3.3V voltage will be converted to by the 5V voltage of switching switch input, the most solar powered device is positioned on workbench, solar powered device includes solar energy photovoltaic panel；
Wireless charging device, it is connected with solar energy detection equipment and accumulator respectively, when the solar energy intensity that the dump energy of accumulator is not enough and current is less than preset strength, setting up with neighbouring wireless charging terminal and be connected to start wireless charging operation, wireless charging device is also connected with electric pressure converter to realize voltage conversion；
Sound and light alarm equipment, is connected with Freescale MC9S12 chip, including audible alarm subset and light warning subset for receive fall triggering signal or fall early warning signal time carry out corresponding sound and light alarm operation；
User input device, is connected with Compact Flash, under the operation of user, inputs preset content in Compact Flash；
Freescale MC9S12 chip, it is connected with image capture device, ejecting gun, weight rate detection equipment, human body detecting device and infrared detection equipment respectively, after receiving weight change early warning signal, start image capture device, subsequently receive exist human body signal and receive object skim over signal time, send the triggering signal that falls, receive without human body signal and receive object skim over signal time, send the early warning signal that falls, and do not receive object and skim over signal and receive only and there is human body signal, send the early warning signal that falls；
Compact Flash, is used for having prestored presetted pixel point quantity, preset strength and default rate of change；
Wherein, module selects subset to select the filtration module carrying out medium filtering to include based on maximum distribution radius: maximum distribution radius is the biggest, the filtration module carrying out medium filtering selected is the biggest, and maximum distribution radius is the least, and the filtration module carrying out medium filtering of selection is the least；
Wherein, module selects selective filtration module in subset to include 3 × 3, and 5 × 5,7 × 7 and 9 × 9.
3. automatic material clearing workbench as claimed in claim 2, it is characterised in that:
User input device is keyboard array.
4. automatic material clearing workbench as claimed in claim 2, it is characterised in that:
Infrared detection equipment includes RF transmitter and infrared receiver.
5. automatic material clearing workbench as claimed in claim 4, it is characterised in that:
Infrared detection equipment includes microcontroller.
6. automatic material clearing workbench as claimed in claim 5, it is characterised in that:
Microcontroller is AT89C51 single-chip microcomputer.
7. the automatic material clearing workbench as described in claim 2-6 is arbitrary, it is characterised in that: Freescale MC9S12 chip and Compact Flash are integrated on one piece of surface-mounted integrated circuit.
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| CN105817818B (en) | 2016-12-07 |
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